
#pragma once


// can't use 0
#define NVIC_PRIO_MAX                      NVIC_BUILD_PRIORITY(0, 1)
#define NVIC_PRIO_TIMER                    NVIC_BUILD_PRIORITY(1, 1)
#define NVIC_PRIO_BARO_EXTI                NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_SONAR_EXTI               NVIC_BUILD_PRIORITY(2, 0)  // maybe increate slightly
#define NVIC_PRIO_TRANSPONDER_DMA          NVIC_BUILD_PRIORITY(3, 0)
#define NVIC_PRIO_GYRO_INT_EXTI             NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MAG_INT_EXTI             NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_WS2811_DMA               NVIC_BUILD_PRIORITY(1, 2)  // TODO - is there some reason to use high priority? (or to use DMA IRQ at all?)
#define NVIC_PRIO_SERIALUART1              NVIC_BUILD_PRIORITY(1, 1)
#define NVIC_PRIO_SERIALUART2              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_SERIALUART3              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_SERIALUART4              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_SERIALUART5              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_SERIALUART6              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_SERIALUART7              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_SERIALUART8              NVIC_BUILD_PRIORITY(1, 2)
#define NVIC_PRIO_I2C_ER                   NVIC_BUILD_PRIORITY(0, 0)
#define NVIC_PRIO_I2C_EV                   NVIC_BUILD_PRIORITY(0, 0)
#define NVIC_PRIO_USB                      NVIC_BUILD_PRIORITY(2, 0)
#define NVIC_PRIO_USB_WUP                  NVIC_BUILD_PRIORITY(1, 0)
#define NVIC_PRIO_SONAR_ECHO               NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MPU_DATA_READY           NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MAG_DATA_READY           NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_CALLBACK                 NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MAX7456_DMA              NVIC_BUILD_PRIORITY(3, 0)

#ifdef USE_HAL_DRIVER
// utility macros to join/split priority
#define NVIC_PRIORITY_GROUPING NVIC_PRIORITYGROUP_2
#define NVIC_BUILD_PRIORITY(base,sub) (((((base)<<(4-(7-(NVIC_PRIORITY_GROUPING))))|((sub)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING)))))<<4)&0xf0)
#define NVIC_PRIORITY_BASE(prio) (((prio)>>(4-(7-(NVIC_PRIORITY_GROUPING))))>>4)
#define NVIC_PRIORITY_SUB(prio) (((prio)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING))))>>4)
#else
// utility macros to join/split priority
#define NVIC_PRIORITY_GROUPING NVIC_PriorityGroup_2
#define NVIC_BUILD_PRIORITY(base,sub) (((((base)<<(4-(7-(NVIC_PRIORITY_GROUPING>>8))))|((sub)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING>>8)))))<<4)&0xf0)
#define NVIC_PRIORITY_BASE(prio) (((prio)>>(4-(7-(NVIC_PRIORITY_GROUPING>>8))))>>4)
#define NVIC_PRIORITY_SUB(prio) (((prio)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING>>8))))>>4)
#endif
